Automatic quality characteristic test system and test method suitable for carrying satellite batch production

Abstract

The invention belongs to the technical field of satellite test devices, and provides an automatic quality characteristic test system and test method suitable for batch production of carried satellites in order to solve the technical problems that the number of satellites at present reaches the trend that hundreds of satellites are produced annually or above, the quality characteristic test efficiency is improved, and automatic mass center balance weight is achieved. All tests of the self weight of a carried satellite, the mass center in the X-axis, Y-axis and Z-axis directions and the rotational inertia of the X-axis, Y-axis and Z-axis directions are completed through one-time clamping, the test period can be shortened to 1 hour per satellite, the method is suitable for a batch satellite production line with the annual output of more than 200 satellites, and the test precision is high; meanwhile, automatic mass center counterweight of the carried satellite is achieved through the automatic mass center counterweight assembly, the testing process is integrally simplified, and the automation degree is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite test devices. Background Art

[0002] In recent years, with the rapid development of commercial spaceflight, the cost of satellite launches has been significantly reduced, and the continuous emergence of miniaturized and low-cost satellite technologies has significantly improved humanity's ability and opportunities to enter space. The frequency of miniaturized payloads developed by various universities and research institutes being launched into space with the satellite platforms of satellite developers has gradually increased, and the mass production of ride-sharing satellites on platforms has become a trend. As one of the very important test links before satellite delivery, the mass property test provides important parameters for satellite-rocket separation and in-orbit attitude adjustment of the satellite. If the mass property parameters are not accurately measured, it will directly affect the separation angular velocity of the satellite after satellite-rocket separation, increasing the difficulty of satellite attitude control. In serious cases, it will lead to collisions between the satellite and the rocket upper stage after separation and failure to enter orbit, or the damping time of the satellite is too long, resulting in the depletion of the battery power.

[0003] In traditional mass property test systems, most are a combination of two test toolings, namely a vertical tooling and an L-shaped tooling. The two test toolings are respectively connected to the mass property test bench. When loading a satellite, it first needs to be lifted by a crane to the vertical tooling to test the center of mass in the X and Y directions and the moment of inertia about the Z axis. Then, the entire satellite is disassembled and lifted to the L-shaped tooling to test the center of mass in the Z direction and the moment of inertia about the X and Y axes. The satellite needs to be switched between the two test toolings, and multiple people need to cooperate for multiple hoistings, resulting in low test efficiency and potential safety hazards.

[0004] Chinese Patent No. 200910089666.8, "A Three-Coordinate Transformer for Integrated Mass Property Testing", discloses a structure in which an arc-shaped base is provided with an arc surface for cooperating with an arc-shaped guide rail and a horizontal surface for fixedly installing the arc-shaped base. The arc-shaped guide rails are respectively installed on the arc surface of the arc-shaped base. A slide table is placed on the arc-shaped guide rail and slides along the arc-shaped guide rail under the action of a driving mechanism. The slide table itself can also rotate along the normal direction of each point on the arc segment where the arc-shaped guide rail is located, which to a certain extent solves the technical problem of the above-mentioned satellite switching between two test toolings for mass property testing.

[0005] However, in the face of the current trend of more than a hundred satellites being produced annually, the test efficiency using the above method cannot meet the production capacity of satellites, and the test cycle still exceeds 2 hours per satellite; moreover, due to the differences in the payloads carried by ride-sharing satellites on platforms, the center of mass distribution states of different models of ride-sharing satellites also vary. Therefore, the above method cannot achieve rapid automated testing of the mass properties of carried satellites of different ride-sharing models and automated center of mass counterweighting. Summary of the Invention

[0006] To solve the problems of the test efficiency of batch satellite loading and the technical problem of automatic centroid counterweight, the present invention provides an automatic mass property test system and test method suitable for batch production of satellite loading.

[0007] An automatic mass property test system suitable for batch production of satellite loading, including a test tooling, the test tooling is supported by an arc-shaped frame, arc-shaped rack rails are symmetrically installed on both sides of the arc-shaped frame, and a sliding and rotating mechanism slides along the arc-shaped rack rails.

[0008] The sliding and rotating mechanism further includes a support plate, a connecting column and a rotating platform, and the rotating platform is connected to the support plate through the connecting column and realizes 360° rotation;

[0009] A locking mechanism for fixing the in-place states of the sliding and rotating mechanism and the rotating platform;

[0010] A satellite adapter tooling, which is detachably installed on the rotating platform;

[0011] A centroid automatic counterweight assembly is arranged around the satellite adapter tooling, and the lateral centroid deviation is controlled to a set threshold value through closed-loop feedback to realize the centroid counterweight of the loaded satellite;

[0012] It further includes a mass property test bench, and the test tooling is connected to the loading platform on the mass property test bench by being fixed on the bottom plate.

[0013] The loading platform is provided with sensors and a lifting mechanism, and the loading platform is controlled by the lifting mechanism. When measuring the centroid of the loaded satellite, the loading platform contacts the sensors, and when measuring the moment of inertia of the loaded satellite, the loading platform rises and disengages from the sensors;

[0014] Thus, the automatic mass property test system can complete all tests of the weight of the loaded satellite itself, the centroid in the X-axis, Y-axis, and Z-axis directions, and the moments of inertia in the X-axis, Y-axis, and Z-axis with one clamping.

[0015] Furthermore, the centroid automatic counterweight assembly includes a mounting seat connected to the satellite adapter tooling, both ends of the lead screw are connected to the mounting seat, a lead screw slider slides on the lead screw, a counterweight block and an aluminum protection plate are sequentially fixed above the lead screw slider, and a module slide rail for the module slider to slide is provided on the surface of the mounting seat below the lead screw. The module slider and the lead screw slider jointly drive the counterweight block to move on the lead screw under the action of the second driving motor until the lateral centroid deviation of the loaded satellite is within the set threshold value and stops moving.

[0016] Furthermore, a grating scale body is installed on the side of the mounting seat, and a reading head is installed on the module slider, so as to make the centroid automatic adjustment more accurate; two limit switches are installed near the connection of both ends of the mounting seat and the lead screw respectively, for limiting the movement range of the lead screw slider.

[0017] Further, the sliding and rotating mechanism is meshed with the arc rack guide rail through the driving gear installed on the inner wall of the support plate and slides between 0° and 90° along the arc rack guide rail under the action of the first driving motor. The sliding and rotating mechanism detects the angle change in real time through the internal angle sensor and feeds it back to the mass characteristic test bench. The mass characteristic test bench controls the first driving motor to form a closed-loop feedback control for sliding; the rotating platform is driven by a worm and worm gear, and an angle encoder is installed inside to achieve precise positioning.

[0018] Further, a transparent protective cover is arranged outside the test tooling. The surface of the transparent protective cover is coated with an anti-static coating, and a control panel is also provided to control the test tooling to perform automatic clamping of the satellite to be carried, the sliding and rotating mechanism to slide between 0° and 90°, and the rotating platform to rotate 360°, and to process and compare the test data collected by the mass characteristic test bench.

[0019] The test method of the automatic mass characteristic test system suitable for mass production of satellites to be carried specifically includes the following steps:

[0020] Step 1: Centroid leveling in the X-axis and Y-axis directions:

[0021] After transporting the satellite to be tested to the test tooling and clamping it with the satellite adapter tooling, it is recorded as the first test state. As Figure 5 shown, the centroid in the X-axis and Y-axis directions of the whole satellite is measured before the whole satellite counterweight in the first test state. Judge whether the centroid exceeds the index requirements. If the centroid exceeds the index requirements, the centroid automatic counterweight component starts to perform the leveling action until the lateral centroid is less than 2 mm. Repeat the measurement of the centroid in the X-axis and Y-axis directions. After the centroid meets the requirements, test the next parameter;

[0022] Step 2: Measurement of the moment of inertia about the Z-axis:

[0023] Control the lifting mechanism to raise the load platform to separate it from the sensor, and at the same time apply an initial torque to the load platform. The satellite to be tested, the test tooling and the load platform perform free torsional vibration together. Calculate the moment of inertia about the Z-axis of the satellite to be tested through the period of the free torsional vibration;

[0024] Step 3: Measurement of the moment of inertia about the Y-axis and test of the centroid in the Z-axis direction:

[0025] The satellite to be tested moves 90° to the top along the arc rack guide rail and is recorded as the second test state. Measure the moment of inertia about the Y-axis in the second test state, and then control the lifting mechanism to lower the load platform to make it contact with the sensor, measure the centroid in the Z-axis direction and record it;

[0026] Step 4: Measurement of the moment of inertia about the X-axis:

[0027] The satellite to be tested rotates 90° through the rotating platform at the top of the arc rack guide rail. As Figure 7As shown, the X-axis moment of inertia is measured in test state three;

[0028] Step 5. Back-calculate the counterweight weight:

[0029] Through the test sequence of steps 1 to 4, all tests of the weight of the satellite itself, the mass centers in the X-axis, Y-axis, and Z-axis directions, and the moments of inertia of the X-axis, Y-axis, and Z-axis are completed with a single clamping of the carried satellite. After the above tests are completed, the satellite is lifted and separated from the test tooling, and the mass property test bench returns to the initial state; according to the position where the counterweight block stops in the mass center automatic counterweight assembly, the required additional counterweight weight is back-calculated at the corresponding position of the satellite, and the counterweight block is installed on the satellite body to achieve the overall satellite counterweight.

[0030] Technical effects:

[0031] The present invention completely changes the measurement methods of the old-fashioned "three-wire pendulum" or "compound pendulum". By integrating the functions of an electronic scale, a mass center table, and a load platform into one, the integration of the test process for the mass properties of the test satellite is realized. It can measure the mass, the mass centers of the three axes, and the moments of inertia of the three axes step by step after a single clamping of the carried satellite, simplifies the test process, reduces the number of hoistings, thereby reducing the risk factors during the measurement process, and is applicable to the mass production satellite production line with an annual output of more than 200 satellites. It has high test accuracy and strong versatility; compared with the prior art, the test cycle of the present invention is shortened to 1 hour / unit, improving the test efficiency of the mass properties of batch-produced satellites, and reducing the manual intervention link by 80% through the design of the automatic mass property test system, avoiding manual interference factors, and having a high degree of automation.

[0032] In addition, a mass center automatic counterweight assembly is provided around the satellite adapter tooling. The counterweight block on the ball screw is driven by the second driving motor to move on the screw. The screw uses a precision ball screw with a lead of 1 mm, and is combined with a grating ruler (resolution 0.001 mm) to achieve the micron-level positioning of the counterweight block. The test data shows that the average mass center leveling time for testing 100 carried satellites of the present invention ≤ 5 minutes, the lateral mass center leveling time ≤ 3 minutes, the repeatability error < 0.3 mm, and the counterweight block stops moving until the lateral mass center deviation is within 2 mm. The data processing module back-calculates the required additional counterweight weight at the corresponding position of the carried satellite according to the position where the counterweight block stops, realizing the automatic counterweight of the mass center of the carried satellite. Description of the drawings

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0034] Figure 2 It is a schematic diagram of the overall structure of the test tooling fixed on the bottom plate of the present invention.

[0035] Figure 3 It is a schematic diagram of the overall structure of the sliding and rotating mechanism.

[0036] Figure 4 Schematic diagram of the overall structure of the centroid automatic counterweight assembly provided around the satellite transfer tooling.

[0037] Figure 5 Schematic diagram of the first test state in the actual application of the present invention.

[0038] Figure 6 Schematic diagram of the second test state in the actual application of the present invention.

[0039] Figure 7 Schematic diagram of the third test state in the actual application of the present invention.

[0040] Figure 8 Schematic diagram for establishing the embodiment of the present invention and the virtual measurement coordinate system.

[0041] Figure 9 Schematic diagram of the principle of mass and centroid measurement during the test. Detailed implementation manners

[0042] As Figure 2 shown, the arc-shaped frame 101 serves as the support foundation of the entire test tooling 1, which is welded by aluminum alloy plates, and is designed with stiffeners at corresponding positions through mechanical optimization for installing the arc-shaped rack guide 102 and carrying the sliding and rotating mechanism 103 and the satellite to be tested, with a load not less than 500 kg; there are two arc-shaped rack guides 102, which are symmetrically assembled on both sides of the arc-shaped frame 101. The tooth ring of the arc-shaped rack guide 102 is integrally formed with the guide rail. The tooth ring is made of high-strength stainless steel and is formed through heat treatment processes such as quenching to improve its hardness and wear resistance, so as to ensure good meshing with the driving gear in the sliding and rotating mechanism 103.

[0043] The structure of the sliding and rotating mechanism 103 is as Figure 3 shown. The driving gear installed on the inner wall of the support plate 1031 meshes with the arc-shaped rack guide 102 and slides between 0° and 90° along the arc-shaped rack guide under the action of the first driving motor. As the connection link between the satellite carried and the arc-shaped frame, a connecting column 1032 is installed above the support plate 1031 of the sliding and rotating mechanism 103. The rotating platform 1033 is connected to the support plate through the connecting column and realizes 360° rotation. The rotating platform 1033 is driven by a worm and worm gear, and an angle encoder is installed inside to achieve precise positioning; the sliding and rotating mechanism 103 detects the angle change in real time through the internal angle sensor and feeds it back to the mass characteristic test bench 2. The mass characteristic test bench 2 controls the first driving motor to form a closed-loop feedback control for sliding, that is, the sliding and rotating mechanism can move to any preset angle; after the sliding and rotating mechanism 103 and the rotating platform 1033 reach the position, the locking mechanism acts to maintain the test state, and the locking mechanism is a mechanical ratchet mechanism.

[0044] A satellite adapter tooling 1034 is detachably installed on the rotating platform 1033. As the direct interface between the test tooling 1 and the carried satellite in the present invention, the satellite adapter tooling 1034 can achieve the measurement of different models of satellites by replacing the turntable interface.

[0045] A centroid automatic counterweight assembly 1035 is provided around the satellite adapter tooling 1034 to achieve the centroid counterweight of the carried satellite. The centroid automatic counterweight assembly 1035 includes a mounting seat 351 connected to the satellite adapter tooling 1034. Both ends of the lead screw 352 are connected to the mounting seat 351. A lead screw slider 353 slides on the lead screw. A counterweight block 354 and an aluminum protection plate 355 are sequentially fixed above the lead screw slider 353. The counterweight block 354 is a lead counterweight block. Since the lead screw 352 is relatively long, a set of linear modules (module slider and module rail) is added below the lead screw slider 353 to ensure the stability of the lead screw slider 353 during the centroid adjustment process, thereby making the centroid counterweight accuracy higher. A module rail for the module slider 356 to slide is provided on the surface of the mounting seat 351 below the lead screw 352. The module slider 356 and the lead screw slider 353 jointly drive the counterweight block 354 to move on the lead screw under the action of the second driving motor until the lateral centroid deviation of the carried satellite is within the set threshold and then stop moving. Finally, according to the position where the counterweight block 354 stops on the lead screw, the required additional counterweight weight is calculated by inversion at the corresponding position of the carried satellite.

[0046] Furthermore, a grating scale body is installed on the side of the mounting seat 351, and a reading head is installed on the module slider 356, so as to make the centroid automatic adjustment more accurate; two limit switches are installed near the connection between both ends of the mounting seat 351 and the lead screw 352 respectively, which are used to limit the movement range of the lead screw slider 353.

[0047] A transparent protective cover 5 is arranged outside the test tooling 1, which is made of an acrylic panel with a thickness of 2 mm, facilitating the real-time observation of the movement of the internal mechanism and facilitating the early prediction and maintenance of equipment failures; an anti-static coating is provided on the transparent protective cover to prevent static electricity generated during the operation of the equipment from damaging the satellite; a control panel is also provided on the transparent protective cover to control the test tooling 1 to automatically clamp the carried satellite, the sliding rotation mechanism 103 to slide at 0° to 90°, and the rotating platform 1033 to rotate 360°, and to process and compare the test data collected by the mass characteristic test bench 2.

[0048] The quality characteristic test bench 2 can realize the function of collecting test data on the self-weight of the carried satellite, the mass centers in the X-axis, Y-axis, and Z-axis directions, and the moments of inertia about the X-axis, Y-axis, and Z-axis. It is equipped with a data processing module. The collected test data is converted into digital signals and transmitted to the data processing module. The data processing module can store and classify the test data, automatically calculate the counterweight mass and counterweight direction of the carried satellite, and can automatically compare the quality characteristic data of the carried satellite in the same batch and previous batches for consistency. If there are data with large deviations, the quality characteristics of the satellite will be retested, the correctness of the test data will be judged, and the product consistency will be analyzed. It is also equipped with an electric control system for controlling two drive motors and data acquisition.

[0049] The main technical indicators of the present invention are as follows:

[0050] Mass measurement range: 20 - 500 kg;

[0051] Maximum size of the object to be measured: ≥ 2500 mm × 2100 mm × 1250 mm;

[0052] Mass measurement error: ≤ 400 g;

[0053] Mass center measurement error: Transverse (X, Y directions) ≤ ±0.5 mm; Longitudinal (Z direction): ≤ ±0.5 mm;

[0054] Moment of inertia measurement error: ≤ Measured value * 0.3% + Test fixture moment of inertia * 0.3%;

[0055] During the actual test process

[0056] Step 1: Leveling of the mass centers in the X-axis and Y-axis directions:

[0057] After transporting the satellite to be measured to the test fixture 1 and clamping it with the satellite adapter fixture 1034, as Figure 5 shown, measure the mass centers in the X-axis and Y-axis directions before the whole-satellite counterweight in test state 1. Judge whether the mass centers exceed the specified requirements. If they exceed the specified requirements, the mass center automatic counterweight assembly starts to perform the leveling action until the transverse mass centers are all less than 2 mm. Repeat the measurement of the mass centers in the X-axis and Y-axis directions. After the mass centers meet the requirements, test the next parameter;

[0058] Step 2: Measurement of the moment of inertia about the Z-axis:

[0059] Control the lifting mechanism to raise the load platform 4 to disengage it from the sensor. At the same time, apply an initial torque to the load platform 4. The satellite to be measured, together with the test fixture 1 and the load platform 4, performs free torsional vibration. Calculate the moment of inertia about the Z-axis of the satellite to be measured through the period of the free torsional vibration;

[0060] Step 3: Measurement of the moment of inertia about the Y-axis and test of the mass center in the Z-axis direction:

[0061] The satellite to be measured moves along the arc rack guide rail by 90° to the top, which is recorded as test state two. The moment of inertia about the Y-axis is measured in test state two. Then, the lifting mechanism is controlled to lower the load platform 4 so that it contacts the sensor, and the centroid in the Z-axis direction is measured and recorded.

[0062] Step 4: Measurement of the moment of inertia about the X-axis

[0063] The satellite to be measured rotates 90° through the rotating platform at the top of the arc rack guide rail 102, as Figure 7 shown. The moment of inertia about the X-axis is measured in test state three.

[0064] Step 5: Back-calculate the counterweight weight

[0065] Through the test sequence of steps 1 to 4, the satellite carried is clamped once to complete all tests of its own weight, the centroids in the X-axis, Y-axis, and Z-axis directions, and the moments of inertia about the X-axis, Y-axis, and Z-axis. After the above tests are completed, the satellite is lifted and separated from the test fixture 1, and the mass characteristic test bench 2 returns to the initial state; according to the position where the counterweight block 354 in the centroid automatic counterweight assembly 1035 stops, the required additional counterweight weight is back-calculated at the corresponding position of the satellite, and the counterweight block 354 is installed on the satellite body to achieve the overall satellite counterweight.

[0066] Specific test principle and method

[0067] As Figure 8 shown, with the center of the load platform as the origin, the extension along the center line is the X-axis, upward is the positive direction, and the Y-axis is perpendicular to the X-axis.

[0068] I. Centroid measurement

[0069] The parameters of the test fixture and the load platform have been calibrated to the default values, and the measurement result is the actual measured value of the satellite to be measured minus the equipment. As Figure 9 shown, the data P 1 , P 2 and P 3 of the sensors P 11 , P 21 and P 31 are measured. At this time, the mass P of the satellite to be measured is the sum of the three sensors, and its planar centroid position (GX, GY) can be obtained by calculating according to the principle of moment balance. The formula is as follows:

[0070] P = P 11 + P 21 + P 31 (1)

[0071] G X = P 11 × LX 1 - (P 21 - P31 )×LX 2 / P (2)

[0072] G Y =P 21 ×LY 1 -P 31 ×LY 2 / P (3)

[0073] Wherein:

[0074] P 11 - data of sensor P 1 ;

[0075] P 21 - data of sensor P 2 ;

[0076] P 31 - data of sensor P 3 ;

[0077] P - mass of the object to be measured;

[0078] G X - centroid position of the object to be measured in the X direction;

[0079] G Y - centroid position of the object to be measured in the Y direction;

[0080] LX 1 - distance from sensor P 1 to the origin of coordinates;

[0081] LX 2 - distance from the line connecting sensor P 2 and P 3 to the origin of coordinates;

[0082] LY 1 - distance from sensor P 2 to the origin of coordinates;

[0083] LY 2 - distance from the line connecting sensor P 2 and P 3 to the origin of coordinates.

[0084] The centroid position in the Z - axis direction is the same by the same token.

[0085] II. Measurement of moment of inertia

[0086] According to the law of rotation, the motion equation of the system composed of the tooling, the rotating shaft and the satellite to be measured is:

[0087]

[0088] Among them, J is the moment of inertia; K is the torsional coefficient of the torsion bar; M is the damping torque; — Angular displacement.

[0089] If the influence of damping is ignored, we have:

[0090]

[0091] Among them, ω 2 = K / J, because ω 2 = (2π / T) 2 = K / J, so we get:

[0092] J = (K / 4π 2 )T 2 (6)

[0093] Among them, J is the sum of the moment of inertia J 0 of the load platform itself and the moment of inertia J d of the satellite to be measured. Therefore, equation (6) can be written as:

[0094] J d = (K / 4π 2 )T 2 - J 0 = AT2 - J 0 (7)

[0095] In the formula, A = K / 4π 2 , which is a constant determined by the torsion bar of the load platform.

[0096] Equation (7) is the calculation formula for measuring the moment of inertia of the satellite to be measured. From equation (7), it can be seen that if A and J 0 are given, as long as the vibration period T of the load platform plus the satellite to be measured is measured, the moment of inertia J d of the satellite to be measured can be calculated.

[0097] Next, we will discuss how to measure A and J 0 .

[0098] First, measure the vibration period T 0 with no load on the test fixture.

[0099] According to equation (6), we have: J 0 = AT 0 2 (8)

[0100] Then, place the satellite to be measured on the test fixture and measure its vibration period T b1 , and according to equation (7), we have:

[0101] J b1 = AT b12 -J 0 (9)

[0102] From equations (8) and (9), we get:

[0103] A = J b1 / (T b1 2 -T 0 2 ) (10)

[0104] Where:

[0105] J b1 —The theoretical value of the moment of inertia of the satellite to be measured;

[0106] T 0 —The vibration period of the load platform without load;

[0107] T b1 —The vibration period of the torsion pendulum after adding the satellite to be measured.

[0108] The content not described in detail in the specification of the present invention belongs to the prior art well-known to those skilled in the art. At the same time, for those of ordinary skill in the art, there will be changes in the specific implementation manners and application scopes according to the idea of the present invention. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. An automated quality characteristic test system suitable for satellite mass production, comprising a test fixture (1), wherein the test fixture (1) is supported by an arc frame (101), arc rack guide rails (102) are symmetrically mounted on both sides of the arc frame (101), and a sliding rotation mechanism (103) slides along the arc rack guide rails (102), characterized in that: The sliding rotation mechanism (103) further comprises a support plate (1031), a connecting column (1032) and a rotating platform (1033); the rotating platform (1033) is connected to the support plate (1031) via the connecting column (1032) and can rotate 360 ​​degrees. A locking mechanism, used to fix the sliding rotation mechanism (103) and the rotating platform (1033) in place; A satellite transfer tool (1034) is detachably mounted on the rotating platform (1033); The center-of-mass automatic counterweight assembly (1035) is arranged around the satellite transfer tooling (1034) and controls the lateral center-of-mass deviation to a set threshold value through closed-loop feedback to achieve center-of-mass counterweighting of the satellite; It also includes a quality characteristic test bench (2), wherein the test fixture (1) is connected to a loading platform (4) on the quality characteristic test bench by being fixed on a bottom plate (3). The loading platform (4) is provided with a sensor and a lifting mechanism. The loading platform (4) is controlled by the lifting mechanism. When measuring the center of mass of the carried satellite, the loading platform (4) contacts the sensor. When measuring the moment of inertia of the carried satellite, the loading platform (4) rises and separates from the sensor. Therefore, the automated quality characteristic test system can complete all tests on the satellite's own weight, center of mass in the X-axis, Y-axis and Z-axis directions, and moment of inertia in the X-axis, Y-axis and Z-axis in one clamping.

2. The automated quality characteristic testing system suitable for mass production of satellites according to claim 1, characterized in that: The center of mass automatic counterweight assembly (1035) comprises a mounting seat (351) connected to a satellite transfer tooling, two ends of a screw rod (352) are connected to the mounting seat (351), a screw rod slider (353) slides on the screw rod, a counterweight block (354) and an aluminum protection plate (355) are fixed in sequence above the screw rod slider (353), a module slide rail for a module slider (356) to slide is provided on the surface of the mounting seat below the screw rod, and the module slider (356) and the screw rod slider (353) jointly drive the counterweight block (354) to move on the screw rod under the action of a second driving motor until the lateral center of mass deviation of the carried satellite stops moving within a set threshold.

3. The automated quality characteristic testing system suitable for mass production of satellites according to claim 2, characterized in that: A grating ruler is installed on the side of the mounting seat (351), and a reading head is installed on the module slider (356), so that the automatic adjustment of the center of mass is more accurate; a limit switch is installed at each end of the mounting seat (351) near the connection with the lead screw (352) to limit the movement range of the lead screw slider (353).

4. The automated quality characteristic testing system suitable for mass production of satellites according to claim 1, characterized in that: The sliding rotating mechanism (103) meshes with the arc-shaped rack guide rail (102) through a driving gear installed on the inner wall of the support plate (1031) and slides along the arc-shaped rack guide rail between 0° and 90° under the action of a driving motor 1. The sliding rotating mechanism (103) detects angle changes in real time through an internal angle sensor and feeds back to the quality characteristic test bench (2). The quality characteristic test bench (2) controls the driving motor 1 to form a closed-loop feedback control of sliding. The rotating platform (1033) is driven by a worm gear and an internally installed angle encoder is used to achieve precise positioning.

5. The automated quality characteristic testing system suitable for mass production of satellites according to claim 4, characterized in that: The test fixture (1) is provided with a transparent protective cover (5) on the outside, the surface of the transparent protective cover (5) being covered with an antistatic coating, and is also provided with a control panel for controlling the test fixture (1) to automatically mount a satellite, the sliding rotation mechanism (103) to slide 0° to 90°, and the rotating platform (1033) to rotate 360°, and is capable of processing and comparing test data collected by the quality characteristic test bench (2).

6. The test method of the automated quality characteristic test system suitable for mass production of satellites according to any one of claims 1 to 5, characterized in that: The specific steps include: Step 1: Level the center of mass in the X-axis and Y-axis directions: After the satellite to be tested is moved to the test fixture (1) and clamped with the satellite transfer fixture, it is recorded as test state 1. The center of mass in the X-axis and Y-axis directions before the whole satellite is counterweighted is measured in test state 1 to determine whether the center of mass exceeds the index requirement. If it exceeds the index requirement, the center of mass automatic counterweight component (1035) starts to perform the leveling action until the lateral center of mass is less than the set threshold. Repeat the measurement of the center of mass in the X-axis and Y-axis directions and record them. After the center of mass meets the requirement, the next parameter is tested; Step 2: Z-axis moment of inertia measurement: The lifting mechanism is controlled to lift the loading platform (4) so ​​that it is separated from the sensor, and an initial torque is applied to the loading platform (4). The satellite to be tested, the test fixture (1) and the loading platform (4) are subjected to free torsional vibration. The Z-axis rotational inertia of the satellite to be tested is calculated and recorded through the period of free torsional vibration. Step 3: Y-axis moment of inertia measurement and Z-axis center of mass test: The satellite to be tested moves 90° along the arc-shaped rack guide rail (102) to the top, which is recorded as test state 2. The Y-axis moment of inertia is measured in test state 2. Then, the lifting mechanism is controlled to lower the loading platform (4) so ​​that it contacts the sensor, and the center of mass in the Z-axis direction is measured and recorded. Step 4: X-axis moment of inertia measurement: The satellite to be tested is rotated 90 degrees at the top of the arc-shaped rack guide rail (102) through a rotating platform, which is recorded as test state three, and the X-axis rotational inertia is measured and recorded in test state three; Step 5: Reverse calculation of the weight: Through the test sequence of steps 1 to 4, the satellite is clamped once to complete all tests on its own weight, center of mass in the X-axis, Y-axis and Z-axis directions, and moment of inertia in the X-axis, Y-axis and Z-axis directions. After the above tests are completed, the satellite is lifted and separated from the test fixture, and the mass characteristic test bench is restored to its initial state; based on the position where the counterweight block (354) in the center of mass automatic counterweight assembly (1035) stops, the counterweight weight that needs to be added is subsequently calculated at the corresponding position of the satellite, and the counterweight block (354) is installed on the satellite body to achieve counterweighting of the entire satellite.

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